可以使用点云来获取障碍物吗

[Killow1998]

您好，我还是一个新手，不是很懂，我想问一下能不能用雷达的点云来获取场景的障碍物信息，目前我在launch中没有看到输入点云话题的地方，还有如果要部署到自制的无人机上需要调整哪些参数呢，感谢！

[yzhangec]

Voxel mapping will support pointcloud input in the future. However, current depth image input is converted to pointcloud and input to the tsdf mapping. You can refer to the code to implement a pointcloudCallback function.

[Killow1998]

你好，那如果由于我的lidar是360°水平不存在FOV的问题，怎么才能让无人机的主朝向只沿着轨迹而不是基于frontier计算出来的viewpoint所设定的那样呢？这需要修改哪一部分，还是需要大部分都修改

[yzhangec]

You may disable yaw planning in local trajecotory planning and force the yaw to follow trajectory direction.

[Killow1998]

我记得文章里说过，你们的规划探索和相机的FOV视场角有关，那我更换成Lidar之后需要修改这部分的内容吗？

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On Thu, Mar 13, 2025 at 11:36 AM Eason ZHANG ***@***.***> wrote: You may disable yaw planning in local trajecotory planning and force the yaw to follow trajectory direction. — Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BELOO6WRHFV2BK7JCAJSXET2UD4L5AVCNFSM6AAAAABURL6RN2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDOMJZG42TANBQGQ> . You are receiving this because you authored the thread.Message ID: ***@***.***> [image: yzhangec]*yzhangec* left a comment (HKUST-Aerial-Robotics/FALCON#4) <#4 (comment)> You may disable yaw planning in local trajecotory planning and force the yaw to follow trajectory direction. — Reply to this email directly, view it on GitHub <#4 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BELOO6WRHFV2BK7JCAJSXET2UD4L5AVCNFSM6AAAAABURL6RN2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDOMJZG42TANBQGQ> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[Killow1998]

你好，我又有新的问题了，是关于ExplorationManager::planExploreMotionHGrid()函数的，我正在进行实机测试，有时候会发生输入的odom pos为 0 0 0 的情况下，依然认为当前的cell id = -1，而我设置的map size 的最小值和最大值都包含这个数，一般来说是不会是-1的吧，第二点是发生了如下的报错：
[ INFO] [1743148733.334017673]: [ExplorationManager] SOP time: 1087.52 ms
F0328 07:58:53.334163 107 exploration_manager.cpp:643] Check failed: sop_time <= 1.0 (1.08752 vs. 1) SOP solver internal error detected, solver blocked with unknown error. Please restart the planner
这是由于处理器的性能不足导致的还是因为我举着无人机时没有按照规划的路径走的缘故（尽管后一个理由有一点无稽之谈）